Parallel positioning method for numerous discrete nodes

Abstract

The invention discloses a parallel positioning method for numerous discrete nodes, comprising the following steps: (1) allocating one unique number for each discrete node; (2) calculating a positioning group number of each discrete node in a first-layer positioning process by each discrete node; (3) independently carrying out three-point method positioning by each positioning group in the first-layer positioning process to acquire the relative coordinates of positioning data of each positioning group; (4) pairing all the positioning groups in the first-layer positioning process, and integrating all the pairs to a second-layer positioning process so as to convert the coordinates of all points contained in each positioning group in the first-layer positioning process to the relative coordinate system of a certain positioning group in the integrated second-layer positioning process; and (5) repeating the step (4) till the coordinates of all the discrete nodes are integrated to the relative coordinate systems of the positioning groups in a top-layer positioning process, and completing the positioning process. The parallel positioning method disclosed by the invention has the advantages of low calculation load, averageness in operation, low time complexity, low sensitivity to bottom-layer ranging error accumulation, and favorable robustness.

Description

technical field [0001] The invention relates to the field of relative positioning of regions, in particular to a parallel positioning method of a large number of discrete nodes. Background technique [0002] The regional non-reference node positioning of a large number of discrete nodes is widely used, and plays a pivotal role in large-scale wireless sensor positioning and military, medical, port warehouse logistics management, urban traffic monitoring, geological and water conservancy exploration, environmental monitoring and other fields. [0003] Relying only on the time-division ranging of each discrete node for relative positioning in a large-scale area can no longer meet the requirements of relevant applications for response time. [0004] The traditional cellular method also has large errors that cannot be eliminated due to the plane distribution of discrete points. Increasing the cellular base station can increase the accuracy of positioning, which results in a short...

AI Technical Summary

Problems solved by technology

[0003] In a large area, only relying on the time-division ranging of each discrete node for relative positioning can no longer meet the requirements of relevant applications for response time

[0004] The traditional cellular method also has large errors that cannot be eliminated due to the plane distribution of discrete points. Increasing the cellular base station can increase the accuracy of positioning, which results in a short time required for a credible positioning process and the maximum error. conflict between

[0005] This greatly limits the increase in the number of discrete nodes allowed and the further improvement of positioning accuracy.

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